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<div class="title">C:/Users/Luca/Documents/Workspaces/Workspace/BallBalancing_Win32/src/control/kalman.hpp</div>  </div>
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<a href="kalman_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * BallBalancing - Copyright (C) 2013 Luca D&#39;Onofrio.</span>
<a name="l00003"></a>00003 <span class="comment"> *</span>
<a name="l00004"></a>00004 <span class="comment"> * This file is part of BallBalancing Project</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * BallBalancing is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 3 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * BallBalancing is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * This firmware is based on OpenCV 2.4.5, see &lt;http://www.opencv.org&gt;.</span>
<a name="l00020"></a>00020 <span class="comment"> */</span>
<a name="l00021"></a>00021 
<a name="l00030"></a>00030 <span class="preprocessor">#ifndef KALMAN_HPP_</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define KALMAN_HPP_</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00033"></a>00033 <span class="comment">/*===========================================================================*/</span>
<a name="l00034"></a>00034 <span class="comment">/* Types definitions.                                                        */</span>
<a name="l00035"></a>00035 <span class="comment">/*===========================================================================*/</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="comment">/*</span>
<a name="l00038"></a>00038 <span class="comment"> * @brief    Kalman filter class.</span>
<a name="l00039"></a>00039 <span class="comment"> */</span>
<a name="l00040"></a><a class="code" href="class_kalman.html">00040</a> <span class="keyword">class </span><a class="code" href="class_kalman.html">Kalman</a>{
<a name="l00041"></a>00041 <span class="keyword">private</span>:
<a name="l00042"></a><a class="code" href="class_kalman.html#a9855d82e7d26f8990198899b438ca431">00042</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#a9855d82e7d26f8990198899b438ca431" title="Last output estimation.">x_est_last</a>;       
<a name="l00043"></a><a class="code" href="class_kalman.html#a69c419c798d6c1498d74a8e506833458">00043</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#a69c419c798d6c1498d74a8e506833458" title="Last prediction.">P_last</a>;           
<a name="l00044"></a><a class="code" href="class_kalman.html#afe10e874165b1bfb94ced158ff993fc8">00044</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#afe10e874165b1bfb94ced158ff993fc8" title="Noise covariance.">Q</a>;                        
<a name="l00045"></a><a class="code" href="class_kalman.html#a451aa7b1366890a5963a81be7b6f015c">00045</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#a451aa7b1366890a5963a81be7b6f015c" title="Noise covariance.">R</a>;                        
<a name="l00046"></a><a class="code" href="class_kalman.html#a7817ee61561f40ff8568252a5fcd828e">00046</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#a7817ee61561f40ff8568252a5fcd828e" title="Kalman gain.">K</a>;                        
<a name="l00047"></a><a class="code" href="class_kalman.html#abb285b89fef7785b774455164c08120b">00047</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#abb285b89fef7785b774455164c08120b" title="Prediction.">P</a>;                        
<a name="l00048"></a><a class="code" href="class_kalman.html#a21c6e83c549940968c25c8d2545e30f7">00048</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#a21c6e83c549940968c25c8d2545e30f7" title="System inner state temp value.">P_temp</a>;           
<a name="l00049"></a><a class="code" href="class_kalman.html#aeb4230bb855eb133aa1e4dfe16dfa576">00049</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#aeb4230bb855eb133aa1e4dfe16dfa576" title="Output estimation temp value.">x_temp_est</a>;       
<a name="l00050"></a><a class="code" href="class_kalman.html#a59a6a51c69cef6a20d4ac9837804c8fa">00050</a>         <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#a59a6a51c69cef6a20d4ac9837804c8fa" title="Output estimation.">x_est</a>;            
<a name="l00051"></a>00051 
<a name="l00052"></a>00052 <span class="keyword">public</span>:
<a name="l00053"></a>00053         <a class="code" href="group___control.html#gafced0e28f571d98e8a3c7057e87cd100" title="The constructor.">Kalman</a>(<span class="keywordtype">float</span> <a class="code" href="class_kalman.html#afe10e874165b1bfb94ced158ff993fc8" title="Noise covariance.">Q</a>, <span class="keywordtype">float</span> <a class="code" href="class_kalman.html#a451aa7b1366890a5963a81be7b6f015c" title="Noise covariance.">R</a>);
<a name="l00054"></a>00054         <a class="code" href="group___control.html#ga4e54bc3ac77da48219de5b6297d90386" title="The destructor.">~Kalman</a>();
<a name="l00055"></a>00055 
<a name="l00056"></a>00056         <span class="keywordtype">float</span> <a class="code" href="group___control.html#gaa5abc03d34d704f352f145904ddbc3b4" title="Update estimated value.">update</a>(<span class="keywordtype">float</span> measure);
<a name="l00057"></a>00057 };
<a name="l00058"></a>00058 
<a name="l00059"></a>00059 
<a name="l00060"></a>00060 <span class="preprocessor">#endif </span><span class="comment">/* KALMAN_HPP_ */</span>
<a name="l00061"></a>00061 
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